Paver Control System Based On The Canopen Protocol Study

The control system based on CANBUS is popularizing in modern engineering field, which is a hot point in the filed control area.CAN buss provide physical layer and data link layer specification for the communication network. However, due to need of network management, application protocols and security management requirements for the paver control system, CAN bus network communication applied to different control equipment becomes difficult.CANopen is a application layer based on the CAN serial communication system,which has become hot point in the research.It assumes that the hardware device transceiver and controller are in full compliance with ISO1198 standards.It covers the application layer specification and communication protocol subset and equipment structure of the procedures and recommended cables and connectors and SI units and prefixes interpretation, etc,which ensures the communication link and the consistency of the specific control of software development from different CAN controllers manufacturers,bringing great convenience to the system maintenance.This paver control system uses CAN bus communication,and CANopen protocol to achieve the application layer communication,which greatly increase the system's versatility.According to the requirements of the system,the system takes F040 as the microprocessor core,using modular design concept,designing control board and the external circuit.In order to achieve a true object-oriented open architecture, programmable logic devices are applied to complete a variety of combinations and logic control circuit, which can make main control unit system do settings and reconstruction on-line, according to the objects of different applications and control.In the analysis based on the CAN communication, CAN bus network reference model, physical layer, link layer frame packet types and other issues are analyzed in detail.The key part of the CANopen protocol, such as Object dictionary, Service Data Object Protocol, process data object protocol and network management protocols are studied, which are the basis of the implementation of the CANopen protocol in F040.F040's CAN communication process involves the use of many registers, such as command mask register, message control registers and arbitration register,which should be set correctly.In the design, the system opens the serial port receive interrupt and CAN bus interface interrupt, so that communication acts as a front for a timely response to host computer commands, and other data processing Dengjun work in the background for loop.Considering the paver complexity of the working environmental conditions, full consideration of electromagnetic compatibility and reliability of the protection measures are taken in the design. System power circuit interference protection is taken in the design. the PCB layout optimized EMC design principles are strictly followed, and multiple anti-interference methods are taken in the software.The controller is tested in accordance with national standards of EMC and the results show that the system passes through the most rigorous EFT and lightning surge test.This design uses the CANopen protocol as the application layer for paver control system, changing the control mode, simplifying connections, reducing the number of the low reliability electrical components greatly.The design maintain the digital and modular control system, and realizes the system compatibility for different paver company, which do useful exploration to improve the intelligence level of the paver.